curriculum vitae of marco ceccarelli · 2010-2013 ‘digital mechanism and gear library goes...

Curriculum Vitae of Marco Ceccarelli

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Curriculum Vitae of Marco Ceccarelli Marco Ceccarelli is professor at University of Rome Tor Vergata. He was born in Rome in 1958. He received the mechanical engineer degree cum laude in 1982 at the University “La Sapienza” of Rome. At the same University he received a Ph.D. degree in Applied Mechanics in 1987. In 1987 he was visiting scholar at Stanford University, U.S.A., and in 1990 he received a CNR-NATO annual grant as visiting professor at the Technical University of Valencia, Spain. Since 1990 he teaches courses on Mechanics of Machinery and Mechanisms, and Mechanics of Robots; from 1990 to 2018 at the School of Engineering at the University of Cassino and since 2019 at University of Rome Tor Vergata. From 1996 to 2018 he was Director of LARM, the Laboratory of Robotics and Mechatronics at the University of Cassino. From 2003 to 2005 he has been Vice Director of Department DiMSAT in Cassino. Since 2001 he has been appointed Full Professor of Mechanics of Machinery and Mechanisms. Since 2019 he is Director of LARM2, the Laboratory of Robot Mechatronics at the University of Rome Tor Vergata. He is member of ASME (The American Society of Mechanical Engineers), AEIM (Spanish Society of Mechanical Engineers), IFToMM Italy (IFToMM Italian Association of MMS), IEEE (the Institute of Electrical and Electronics Engineers), IFAC (International Federation on Automation and Control), FeIbIM (Iberoamerican Federation for Mechanical Engineering), AISI (Italian Society for the History of Engineering), GMA (Italian Group for Mechanics of Machinery). From 1998 to 2004 he has been Chairman of the Permanent Commission for History of Machine and Mechanism Science of IFToMM, the International Federation for the Promotion of Machine and Mechanism Science, and currently he is still a member. Since 2002 he is also member of the IFToMM Technical Committee for Robotics. He has been member of IFToMM TC for Computational Kinematics unitl 2003. Since 2005 he is Chairman of the Commission for Mechatronics of FeIbIM, Federaciòn Iberoamericana de Ingenieria Mecànica. In 2007-09 and 2014-16 he has been the Coordinator of the Scientific Committee for RAAD, International Workshops on Robotics in Alpe-Adria-Danube Region. Since 2000 he is Chairman of the Scientific Committee of HMM, IFToMM International Symposium on History of Machines and Mechanisms, that he started in 2000. Since 2002 he is Chairman of the Scientific Committee of MUSME, IFToMM-FeIbIM International Conference on Mechatronics and Multibody Systems, that he started in 2002. Since 2009 he is Chairman of the Scientific Committee of MEDER, IFToMM International Conference on Mechanism Design for Robotics, that he started in 2009. He has been Coordinator of the Commission for Research of GMA, Italian National Group for Mechanics of Machinery for the period 2002-2006. He has been elected Secretary-General of IFToMM for the term 2004-2007. He has been elected President of IFToMM for the term 2008-2011 and again 2016-2019. He is member of scientific Committees for several conferences, like RAAD, Romansy, CK, AIM, SYROM, ISRM, HMM, MUSME and many others; he is associate editor for the journals: MDPI Machines, International Journal of Mechanics and Control, Chinese Journal of Mechanical Engineering (CJME), Frontiers of Mechanical Engineering, The Open Mechanical Engineering Journal, Journal of Zhejiang University-Science A and Journal Advanced Robotic Systems (Editor-in-chief for S4ervce Robotics); he has served as associated editor for Mechanism and Machine Theory in 2003-06; he has served as reviewer for several international conferences and journals; he has served as reviewer for national and international projects for Italian and foreign agencies. He has given invited lectures and short courses by invitation in many countries at conference events, celebration events, or within regular courses. He has been visiting professor for short and long periods in several universities abroad, as for example in 2014-19 at BIT in Beijing, China. He has carried out consulting activity for companies and in industrial plants on problems regarding with Automation and Robotics. He has worked on a project is with Sogin in 2011-2013 for the design and construction for a special robot in nuclear plants with a budget of 150 KEuro. He has participated to projects in PRIN Italian Nation Research program as team leader for Cassino unit and project coordinator in 2003-2005 for a project on Cam systems with a budget of 150 KEuro. He is the coordinator of several bilateral agreement for Socrates–Erasmus program and also for special agreement with extra-European Universities. He has coordinated several international bilateral project in the frame of governmental programs. Significant projects can be considered those within China-Italy for the years 2006-2009 with BUAA Beihang University of Beijing; within Russia-Italy for the years 2008-09 with technical Universities of Kursk and Moscow. In 2010-13 the project ‘Digital Mechanism and Gear Library goes Europeana thinkMOTION’ has been funded (with 2MEuro) by the European Union with Grant Agreement No 250485 in which prof Ceccarelli is the leader of a Cassino team as one of the main partners. In addition he is involved in the European project


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within a Cassino team in the MAGDRIVE (with 1MEuro) and ERRIC (with 2MEuro) projects. In particular, prof Ceccarelli has been team chair for several research projects. The most significant research projects in the last decade, demonstrating his leadership and pioneer capability, can be identified in: since1997 "Design and operation of robots and manipulations" with funds by University of Cassino,

for LARM, Laboratory of Robotics and Mechatronics. 1999-2000 “Design of Robotic Grippers” within the program of Integrated Action between Italy and

Spain in collaboration with a team of University of Coruna whose chair was by prof Javier Cuadrado.

2001-2002 “Design of a Robot for Restoration activity of Monumental Goods” within the program of Integrated Action between Italy and Spain in collaboration with a team of Technical University of Valencia whose chair was d by prof Juan Ignacio Cuadrado Iglesias.

2001-2002 “Design and Experimental Validation of Robots for Medical Applications” within the program CNR-CMOS between Italy and Israel in collaboration with a team of Technical University of Haifa whose chair was d by prof. Moshe Shoham.

2001-2004 “Kinematics and Design of Workspace of Robotic Manipulators” within the program of CNR- CSIC between Italy and Spain in collaboration with a team of the Institute for Industrial Robotics of Barcelona whose chair was d by dr Federico Thomas

1999-2001 “METAFORE: Design of Robots for Medical Applications” within the Italian national research program PRIN 1999-2001.

2001-2003 “RIME: Robots in Medical Environment” within the Italian national research program PRIN 2003-2005 “Design and Validation of cam mechanical transmissions” within the Italian national

research program PRIN, as also national coordinator. 2005 “Design and construction of a robotic system cleaning tanks’ within a research contract with

the enterprise Italgasbeton Sud SpA in Anagni. 2007 “Analysis and characterization of unbalance sources in pneumatic tyres’ within a research

contract with the enterprise Marangoni Tyres SpA in Anagni. 2007-2010 "Design and operation of robots for medical robot services" with funds by University of

Cassino, for LARM, Laboratory of Robotics and Mechatronics. 2006-2009 “Design of mechanism for robotic structures” within the Italy-Russia program with a team of

the Technical University of Kursk whose research director is prof. Sergey Jatsun. 2006-2010 “Design, Simulation, and Experimental Validation of a Hand with Underactuated Fingers”

within the program between Italy and China in collaboration with a team of the BUAA Bheiang University of Beijing, China whose research director is prof Lu Zhen.

2010-2013 “Design and implementation a robotic system for pipeline cuts and inspections in a nuclear plants’ within a research contract of 150 KEuro with the enterprise Sogin SpA of Rome.

2010-2013 ‘Digital Mechanism and Gear Library goes Europeana - thinkMOTION’ has been funded by the European Union with Grant Agreement No 250485 within ICT call, in which prof Ceccarelli is the leader of a Cassino team as one of the main partners.

2011-2014 ‘Magnetic non contact harmonic drive for space applications – MAGDRIVE’ has been funded by the European Union with Grant Agreement No 26789 within Space call, in which prof Carbone is the leader of a Cassino team as one of the main partners.

2015-2018 ‘Heritagebot: robotic systems for cultural heritage goods’ in which prof Ceccarelli is the leader has been funded by the Region Lazio in Italy with grant FILAS-2014-1044 in which prof Ceccarelli is the scientific leader

He has been Scientific Editor for the Proceedings of HMM 2000, HMM 2004, HMM 2008 and HMM2012 International Symposium on History of Machines and Mechanisms. He has been Chairman for HMM 2000 and 2004 that have been held in Cassino. He has been Co-Chairman for MUSME in 2002 in Mexico City, in 2005 in Uberlandia, Brazil, in 2008 in San Juan, Argentina, in 2011 in Valencia Spain, and in 2014 in Huatulco, Mexico. He has been Chairman for RAAD Workshops held in Cassino in 1997 and 2003. He has been Chairman for CK2005, IFToMM International Workshop on Computational Kinematics that has been held in Cassino in 2005. He has been Chairman for EUCOMES 2008, European Conference on Mechanism Science that has been held in Cassino in 2008, as one of founders of the conference series. He has written the book ‘Fundamentals of Mechanics of Robotic Manipulation’ published by Kluwer/Springer in 2004. Together with prof Carlos Lopez-Cajùn he has written the book ‘Mecanismos’ published by Trillas, in Mexico in 2008 and 2nd edition in 2014. He has edited the book ‘Robot


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Manipulators’ published by I-Tech Publishing in Wien in 2008. He has edited the book ‘Service Robots’ published by IGI Global in New York in 2012. He is Scientific Editor of a Book Series that has been started in 2007 on History of Mechanism and Machine Science published by Springer. In the above-mentioned book series he has edited ‘Distinguished Figures in MMS’ Part 1, Part 2, and Part 3 published by Springer. In 2007 he has co-authored with Spanish colleagues the book ‘A Short illustrated History of Machines’ that has been published in 2010 as a revised English version in the above book series. He is also Scientific Editor of a new Book Series that has been started in 2011 on Mechanism and Machine Science published by Springer. In November 2003 he has received the Degree of Doctor Honoris Causa in Mechatronic Engineering from UNI, National University of Lima, Perù,; in May 2009 he received Honoris Causa Degree in Engineering from Technical University of Kursk, Russia; in October 2009 he received Honoris Causa Doctor Degree in Engineering from Technical University of Brasov, Romania; in April 2010 he received Honoris Causa Doctor Degree in Engineering from University of Craiova, Romania, as recognizing his academic and scientific career, and his support to the academic activity. He has also received the 2010 Engineer-Historian Award of the American Society of Mechanical Engineers (ASME) for his lifelong involvement in mechanical engineering, specifically the history of machines and mechanisms. Because of this, he has been now accepted as corresponding member of the committee for History and Heritage of ASME. He is 2017-2020 member of ASME committee National Inventors Hall of Fame. Since January 2012 he is ASME fellow. His research interests cover aspects of Mechanisms and Machines Science MMS (as TMM in the past), Mechanics of Robots, and History of Mechanical Engineering. Specific subjects of his interest are Analysis and Design of Workspace and Manipulation; Mechanical Design of Manipulators, Legged Robots, Grippers, and Hands; Mechanics of Grasp; History of MMS; and Mechanism Design. He is author or co-author of more than six hundreds papers, which have been presented at Conferences or published in national and international journals. He has edited or co-edited 16 books and authored 4 books. His publication impact as in January 2017 is with H= 32 and H i10= 139. More information is available at the web page: http://larmlaboratory.net

Prof Ceccarelli has directed his research with activity that can be linked also to teaching and transmission of the acquired knowledge and expertise to professionals and production activity. In particular, subjects on Robotics and Automation have been developed also to train young researches and young engineers, even coming from abroad at LARM, in research and design with theoretical, numerical, and experimental activities. In the last decades, he has addressed specific attention to the design and operation of robotic systems, like parallel manipulators, gripper and hands, walking machines, with specific features for low- cost designs and easy user-oriented operations, in service applications. He has developed design methodologies and operation strategies for the construction and operation of several prototypes of new robotic systems, like CAPAMAN (Cassino Parallel Manipulators); CATRASYS (Cassino Tracking System); CALOWI (CASSINO Low-cost Wire Manipulator), LARM HAND, LARM clutched arm, Cassino Hexapod, Cassino linkage bided walkers, and LARMbot humanoid. In particular, he has developed and formulated original algorithms for workspace analysis and design of manipulators with a companion activity for experimental validations. In the last years prof Ceccarelli has carried out even activity on the subject of the research on system for Cultural Heritage goods in collaboration with the team of prof Michela Cigola, who is architect professor in Cassino too. Results have been obtained in studies of feasibility and even in a design and construction of a first prototype of a six-leg mobile robot as a platform for equipment in survey activity on pavements of architectonical monuments. This prototype is still under development to make it feasible for applications by architects. In the last years prof Ceccarelli has carried out activity on the subject for research proposals on the design and development of medical service robots. Results have been obtained in studies of feasibility and even in a design and construction of a very first prototypes of cable-based parallel manipulators and applications of the CAPAMAN design. Those prototypes are still under development to make them feasible for applications with doctors and nursery.

Main achievements by prof Ceccarelli can be recognized in scientific research activity, organizing events and teams, searching funds sources within fields of his expertise in Mechanics of Robots, Mechanism Design, and History of TMM (Theory of Machines and Mechanisms). Details of those activity and results can be found in the website http://larmlaboratory.net of the LARM lab whose prof. Ceccarelli is

http://larmlaboratory.net/http://larmlaboratory.net/


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Director. In particular, in research activity prof Ceccarelli has been continuously active in several topics of Mechanics of Robots and he has achieved a worldwide reputation. Main fields of achievements are design and experimental evaluation of manipulators and mechanisms for robots, mainly with user oriented low-cost easy-operation features. In particular, he has formulated an original algebraic approach for workspace analysis and synthesis of serial manipulators with revolute joints that is considered and cited in many works (papers and monographs) by other authors around the world. This workspace formulation is useful to determine efficiently workspace characteristics and can be inverted in a suitable form for design purposes. The significance of this contribution is also proved by the several invited plenary lectures that prof Ceccarelli has given in international conferences. This algorithm has been also used in design approaches for direct synthesis and in optimization procedures of manipulators structures. Another relevant contribution can be recognized in the design and experimental validation for new applications of parallel manipulators. Parallel manipulators have attracted interest towards practical application since the beginning of 1990s’. Prof Ceccarelli has approached the problems and in 1995 has developed a novel design that has been named as CAPAMAN (Cassino Parallel Manipulator). Three different architecture have been developed under his supervision at LARM up to the construction of several prototypes. A novel application has been experienced for CAPAMAN as 3D earthquake simulator. CAPAMAN design is well-known around the world. A second version as CAPAMAN 2 has been developed for surgery applications and a further modification has been experienced as trunk system in a humanoid design. It has also given the possibility for several international collaborations, both in teaching for thesis works and research for experimental and theoretic developments, with or without institutional contracts. Results of those collaboration have produced conference and journal papers, whose list can be found in the LARM website as the enclosed list of publications. In the field of parallel robots, a new research line is on cable-based manipulators for non-conventional use like for medical applications. In this field prof Ceccarelli has also achieved interesting results that have attracted interest and activity of several students and young researchers. Significant results are documented with the design, construction and experience of CATRASYS (Cassino Tracking System) and CALOWI (Cassino Low-Cost Wire manipulator). CALOWI system has been also experienced as suitable for rescue operations in earthquake damage environments. Mechanism design has been also oriented to the development of finger mechanisms with one actuator and robust design as an extension of work on two-finger grippers. LARM Hand design has been conceived at human size with three fingers mimicking the human grasp but with only one motor per finger. The finger mechanism has been designed so that its links will be always within the finger body with energy efficiency and human-like properties. Solutions with undertactuated mechanisms have been also designed and investigated with significant results. Recently, a LARM clutched arm has been conceived and designed with details with the aim to achieve an anthropomorphic arm for humanoid robots but with only one motor and an easy control system. The topic has been developed mainly with a PhD work under the supervision of prof. Ceccarelli. Relevant international collaborations on the above topics and many other design problems have been carried out like for example with teams from University of Stanford in USA, Mc Gill University in Canada, Waseda University in Japan, IRI of Barcelona in Spain, Technical University Braunschweig in Germany, Technical University Valencia in Spain, BUAA (Beihang University) in China, University of Queretaro in Mexico, University of Uberlandia in Brazil, University of San Juan in Argentina, Bauman Technical University in Moscow in Russia and so on. It is to note that the above-mentioned novel systems have been not patented since prof. Ceccarelli has thought up to now that since design paternity is efficiently legally proved by international publications, patent expenditures could be avoided. In the last decade prof Ceccarelli has approached the design and operation of robotic systems with challenging features of low-cost design and easy user-oriented operation. Thus, he and his co-workers have conceived, designed, built, and experienced several automatic mechanical systems, among which significant are also the LARM Hand, grippers, LARM clutched arm, Cassino Hexapod mobile robot, LARMbot humanoid robot, and several legged walking machines. Recently he has developed Heritagebot robotic Platform for Cultural Heritage. Relevant are the results that he obtained in revitalizing scientific interest on cam transmissions by achieving even funds from the Italian national research program PRIN for a team of researchers that he has aggregated from several Italian Universities. This collaboration is still ongoing, even without


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specific funds. New algorithms for design and operation of circular arc cam profiles have been proposed by prof Ceccarelli and his co-workers not only within the abovementioned projects. In the field of History of TMM he has carried out a pioneering activity in addressing attention to the History of Mechanical Engineering from technical viewpoints. He looks at past works and achievements in order to understand the technical contributions and conditions that led to them with the aim to discover a modern interest for renewed practical applications. Thus, he looks at past results with the possibility to properly interpret and reformulate them with current terminology and modern engineering means. This activity has attracted great interest within the worldwide IFToMM community (IFToMM is the International Federation for the Promotion of Mechanism and Machine Science) and prof Ceccarelli has successfully revitalized the IFToMM Permanent Commission for History of TMM, by even starting a series of HMM symposium every four years since 2000 and a series of annual workshops since 2002. Particularly this conference activity is organized by prof Ceccarelli with the help of colleagues in order to bring those conference events in different countries around the world. Prof Ceccarelli has also attempted integration and collaboration with historians from the traditional community of History of Science. The significance of the scientific contributions by prof Ceccarelli and his team can be recognized also from the considerable activity in international collaborations both in teaching and research, with or without funded projects. In fact, at LARM students, young researchers, scholars, and visiting professors are continuously received coming from Europe (even beside Socrates program) and from the rest of the World for short and long periods, in general with a support of the guest origin institutions. These collaborations are documented by the results in publications in conference and journals whose a list is available in the LARM website as the enclosed list of publications. The International recognition of prof Ceccarelli can be proved by his participation at several scientific committees for international conferences, his position as associate editor of several international journals, editor of several boos and two book series, invitations that he has received and continuously receives for giving plenary lectures and invited seminars in conferences and in academic institutions, and finally his election as IFToMM president for the term 2008-2011. In particular, recognition of his reputation is also proved by the Honoris Causa Degrees he received from abroad universities, as mentioned above. Prof Ceccarelli has also contributed to new activities both for organization goals and new interdisciplinary areas within mechanical engineering. His reputation in this aspect can be proved by considering also his position in several international bodies. Significant are his chairmanships of scientific committees for international conferences and commissions, like for example for conference series of MUSME, the FeIbIM- IFToMM Symposium of Multibody systems and Mechatronics and RAAD, the International Workshop on Robotics in Alpe-Adria-Danube Region; and for the FeIbIM Commission for Mechatronics (FeIbIM is the Iberoamerican Federation for Mechanical Engineering). In particular, he has started the MUSME series with other colleagues as a joint conference between IFToMM and FeIbIM since 2002 with the specific goal to disseminate and promote Multibody Dynamics and Mechatronics in South America communities. He has also been a promoter of ISRM IFToMM International Symposium on Robotics and Mechatronics that has been started in Hanoi in 2009, as well as IFToMM Asian Conference on Mechanism and Machine Science that has been started in 2010 in Taipei. The organizing activity in the field of History of TMM is well recognized by the success both of the HMM symposium and annual Workshop on History of TMM. The success of the HMM Symposium is proved by the third event that has been held in Taiwan in November 2008, and a fourth one is scheduled in 2012 in Amsterdam. This activity has contributed to achieve the significant result of a book series on History of Machine and Mechanism Science that has been started in 2007 as published by Springer with prof Ceccarelli as scientific Editor. Within this book series prof Ceccarelli has promoted a project of a dictionary on MMS personalities with invited papers describing shortly biography and explaining the technical contribution with a modern view. A first volume has been published in 2007 and a second one has been published in 2009. He has been the founder and promoter also of the Workshop series on History of MMS that has been started in 2002 in Admont (Austria) and since then every year an event has been celebrated as in Dresden(Germany) in 2005, in Moscow (Russia) in 2005, in Queretaro (Mexico) in 2005, in Ithaca (USA) in 2006, in Bangalore (India) in 2007, in 2009 in Porto Alegre (Brazil), in 2010 in Beijing (China) and many others up to the 2015 Eorkshop in St Petersburg (Russia). In addition, prof Ceccarelli together with few European colleagues has started the series of European Conference on Mechanism Science EUCOMES with the aim to aggregate the European community working in the several topics of Mechanism Science within a unique well-identified forum. The first


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conference event has been held in Austria in 2006 and second one has been successfully organized in 2008 by prof Ceccarelli in Cassino with a confirm of the initiative with an increasing participation up to two hundred participants. A third event is held in Cluj-Napoca (Romania) in 2010 for which he has been co-editor of the Proceedings. The activity of leadership in MMS has given also a result in starting in 2010 a book series by Springer on MMS with prof Ceccarelli as scientific Editor. Prof Ceccarelli has experienced successfully activity in interdisciplinary fields for studying the History of Mechanical Engineering, for developing robotic systems and operation strategies in medical applications ad in survey of architectonic goods. He has approached aspects of History of Mechanical Engineering not only with the aim to establish an interest for a modern reconsideration of past works and methodologies, as outline above, but he has also attempted to integrate that novel viewpoint wit traditional studies of History of Science. Thus, he has also collaborated with historians to better understand and analyze the frames within which the investigated past personalities and methodologies have been developed. In particular, he has also collaborated to integrate interpretation of the developments in Mechanism Design by looking at aspects that are related to Descriptive Geometry and Drawing. Prof Ceccarelli has approached problems for using parallel architectures of robots in medical applications, like surgery assistance and physiotherapy exercises. In this activity he has tried to collaborate with doctors and physiotherapists. Indeed, this activity is still at preliminary stages, although interesting results have been obtained within the above-mentioned PRIN research projects in the years 2001-2005. Recently, prof Ceccarelli and his team have approached the problems of using cable-based parallel manipulators for diagnosis and physiotherapy exercise of human limbs with guidance by doctors and physiotherapists. Interdisciplinary activity for survey and analysis of historical architectonic goods has been carried out since the beginning of 2000s’ with preliminary studies of feasibility for design and operation of a hexapod mobile robot as a suitable platform for survey equipment in outdoor environments. In this activity collaborations have been successfully experienced with architects researchers working in the fields of Analysis and Survey in Architecture. Indeed, preliminary results and integrated interests from this activity have identified frames and potentialities for this projects with the aim to achieve better interdisciplinary experiences with practical results and new challenges for new professional viewpoints in Restauration fields.


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MONOGRAPHS 1. Ceccarelli M., Fundamentals of Mechanics of Robotic Manipulation, Kluwer/Springer,

Dordrecht, 2004. ISBN 1-4020—1810-X 2. Bautista Paz E., Bernardos Rodriguez R., Ceccarelli M., et al., A Short illustrated History of

Machines, Technical University of Madrid, Madrid, 2007. ISBN 978-84-7484-200-5. (in Spanish) 3. Lopez-Cajùn C., Ceccarelli M., Mechanisms: Kinematic Design of Machinery, Trillas, Mexico City,

2008. ISBN 978-968-24-8181-9 (in Spanish) 4. Bautista Paz E., Ceccarelli M., Echavarri Otero J., Munoz Sanz, J.J., A brief illustrated history of

machines and mechanisms, Science and Engineering, Book series on History of Machines and Machine Science, Vol.10, Springer, Dordrecht, 2010. DOI 10.1007/978-90-481-2512-8. ISBN: 978- 90-481-2511-1

EDITED BOOKS 1. Ceccarelli M. (Editor), Proceedings of 6th International Workshop on Robotics in Alpe-Adria-Danube

Region RAAD'97, Cassino, 1997. 2. Ceccarelli M. (Editor), Proceedings of International Symposium on History of Machines and

Mechanisms HMM2000, Kluwer, Dordrecht, 2000. 3. Ceccarelli M. (Editor), Proceedings of International Symposium on History of Machines and

Mechanisms HMM2004, Kluwer, Dordrecht, 2004. 4. Golovin A. and Ceccarelli M. (Editors), Proceedings of the Third IFToMM International Workshop on

History of Machines and Mechanisms, Bauman Technical University, Moscow, May 2005. 5. Ceccarelli M. (Editor), Distinguished Figures in Mechanism and Machine Science: Their Contributions

and Legacies – Part 1, Book series on History of Machines and Machine Science, Vol.1, Springer, Dordrecht, 2007.

6. Ceccarelli M. (Editor), Robot Manipulators, I-Tech Education and Publishing KG, Wien, 2008, ISBN 978-953-7619-06-0.

7. Ceccarelli M. (Editor), Proceedings of Second European Confernce on Mechanism Science EUCOMES 2008, Springer, Dordrecht, 2008. DOI: 10.1007/978-1 420-8915-2 ISBN: /978-1 420-8914-5

8. Ceccarelli M. and Yan H.S. (Editors), Proceedings of IFToMM International Symposium on History of Machines and Mechanisms HMM2008, Springer, Dordrecht, 2009.

9. Ceccarelli M. (Editor), Distinguished Figures in Mechanism and Machine Science: Their Contributions and Legacies – Part 2, Book series on History of Machines and Machine Science, Vol.7, Springer, Dordrecht, 2010,. DOI 10.1007/978-90-481-2346-9_8. ISBN: 978-90-481-2345-2

10. Paipetis S.A., Ceccarelli M. (Editors), The Genius of Archimedes – 23 centuries of influence on Mathematics, Science and Engineering, Book series on History of Machines and Machine Science, Vol.11, Springer, Dordrecht, 2010. ISBN: 978-90-481-9090-4 http://dx.doi.org/10.1007/978-90-481- 9091-1

11. Pisla, D.; Ceccarelli, M.; Husty, M.; Corves, B. (Eds.), New Trends in Mechanism Science, Analysis and Design Series: Mechanisms and Machine Science, Vol. 5 , 1st Edition., 2010, XIV, 708 p., ISBN: 978-90-481-9688-3, DOI: http://dx.doi.org/10.1007/978-90-481-9689-0

12. Ceccarelli M. (Ed.), Role of MMS and IFToMM in Technology Development, Book series on Machines and Machine Science, Vol.1, Springer, Dordrecht, 2011. ISBN 978-94-007-1299-7, DOI: http://dx.doi.org/10.1007/ 978-94-007-1300-0

13. Portilla, J. M. de la; Ceccarelli, Marco (Eds.), History of Machines for Heritage and Engineering Development, Book series on History of Machines and Machine Science, Vol.14, Springer, Dordrecht, 2011. SBN 978-94-007-1250-8.

14. Ceccarelli M. (Ed.), Service Robots and Robotics: Design and Application, Engineering Science Reference (IGI Global), Hershey, 2012, ISBN 978-1-4666-0293-9.

15. Koetsier T. and Ceccarelli M. (Eds.), Explorations in the History of Machines and Mechanisms, Book series on History of Machines and Machine Science, Vol.15, Springer, Dordrecht, 2012. http://dx.doi.org/10.1007/978-94-007-4132-4. ISBN: 978-94-007-4131-7

16. F. Viadero and M. Ceccarelli(Editors), New Trends in Mechanisms and Machine Science, Springer Dordrecht, 2012, ISBN 978-94-007-4001-6; DOI 10.1007/978-94-007-4002-3.

http://dx.doi.org/10.1007/978-90-481-9091-1http://dx.doi.org/10.1007/978-90-481-9091-1http://www.springer.com/series/8779http://dx.doi.org/10.1007/978-90-481-9689-0http://dx.doi.org/10.1007/http://www.springer.com/alert/urltracking.do?id=Lc45b42Ma03317S298a480


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ASSOCIATE EDITOR IN JOURNAL BOARDS 2003-2005 Mechanism and Machine Theory 2005-present Transactions of Canadian Society of Mechanical Engineering 2006-present Int. Journal of

Advanced Robotic Systems 2006-present Int. Journal of Advanced Robotic Systems 2006-present Int. Journal Mechanics Based Design of Structures and Machines 2007-present Int. Journal of Mechanics and Control 2007-present The Open Mechanical Engineering Journal (2012 - Chair for Europe) 2008-present open-access Int. Journal Advances in Mechanical Engineering 2008-present Robotica & Management Int. Journal 2008-present Frontiers of Mechanical Engineering 2009-present Chinese Journal of Mechanical Engineering 2011-present open-access Machines: Machinery and Automation 2011-present open-access Journal of Mechanical Sciences 2011-present Int. Journal of Mechanisms and Robotic Systems 2012-present Int. Journal of Basque Studies 2013-present Advances in Historical Studies 2013-present chief-Editor for Service Robotics in Int. Journal of Advanced Robotic Systems 2016- present Int. Journal Inventions Attività di Valutatore scientifico 2010-2017 (si riportano menzioni degli ultimi anni, con attività sin dal 1997) Activity of scientific Evaluator 2010-2017 (activity since 1997, but the last years are listed) dal 1999 è nominator for Japan Prize nel campo dell'Ingegneria, bandito dal governo del Giappone. 2013 nominator for ASME Timoshenko Medal 2014 nominator for ASME Leonardo da Vinci Award 2014 nominator for ASME D'Alembert Award 2014 nominator for ASME landmark of engine collections at the Museum of Palermo University 2011- present: corresponding member in the ASME History & Heritage Committee 2017- present: member of the ASME committee for the Inventors Hall of Fame Valutatore di Progetti in programmi nazionali/internazionali: Evaluator of National and International programs: from 2012 iscritto all'Albo degli Esperti del MIUR from 2011 Ministry of Education and Science of Russian Federation from 2011Council for Research and Development of Romania 2009 National Fund for Scientific and Technological Development, Chile 2010 Ministry of Education and Science of Russian Federation 2011 Delft University, Netherlands 2011 Science and Engineering Council of Canada 2011 POR FESR 2007 - 2013 e l'APQ Ricerca Scientifica della Regione Calabria 2012 Science and Engineering Council of Canada 2013 Spanish National Agency of Evaluation and Prospective (ANEP) Feb-giu 2013 Science and Engineering Council of Singapore Sett-ott 2013 National Fund for Scientific and Technological Development, Perù 2015-2016 Croatian Science Foundation April-May 2015 Progetti FAR-FAS della Regione Toscana 2015-present esperto disciplinare ANVUR per verifica Corsi di Studio in Ingegneria 2014-2017 GEV 09 member of the national Italian Evaluation program VQR2011-2014 2014-2017 Programma Industria 2015 di Invitalia per il Ministero per Sviluppo Industriale 2015-2017 Russian Science Foundation (RSF) April 2018 (president) commissione AVA per verifica Corsi di Studio in Ingegneria


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Valutatore di bandi per ruolo di Professore: Evaluator for positions of Professor: March-Apr 2011 Nanyang University, Singapore Jan-March 2012 Tokyo Institute of Technology Aug-Oct 2012 University of New Brunswick, Canada June-July 2013 Delft University, Netherlands Marc-april 2013 Institute of Advanced Manufacturing Technology, Changzhou China, Jan- March 2014 Bauman Moscow State Technical University in Moscow, Russia Jun-Jul 2014 Ohio State University, USA Oct –nov 2014 Nanyang University, Singapore Jan-March 2015 Beograd University in Beograd, Serbia, Jan- March 2015 Institute for the History of Natural Science, Beijng, China March- April 2015 St. Petersburg Polytechnic University, in St. Petersburg, Russia March- April 2016 and June 2017 Technical University of Turin, Italy April-July 2016 (president) Technical University of Barcelona, Spain March -April 2017 University of Padova in Vicenza Feb-June 2017 (president) Cassino University May-June 2017 IIS Bangalore, India Jan-march 2018 (president) Padua University Commissioni di esame finale di Dottorato di ricerca: Evaluator of PhD Theses:

Gen-apr 2010 Politecnico di Valencia, Spagna Sett- nove 2010 Politecnico di Barcellona, Spagna Gen-Feb 2011 Università di Bilbao, Spagna Giu-lug 2011 Politecnico di Cluj-Napoca, Romania Apr-lug 2011 King’s College of London, UK Feb-apr 2011 Università di Santander, Spagna Gen-march 2012 Nanayng University, Singapore Sett-nov 2012 Lappeenranta University of Technology, Finland Sett- nove 2012 Politecnico di Barcellona, Spagna Gen-Feb 2013 Università di Bilbao, Spagna Sett-nov 2013 Università di Santander, Spagna Gen-apr 2014 Politecnico di Valencia, Spagna Gen -april 2016 Southampton University, UK

Prof Marco Ceccarelli (Past IFToMM President, ASME fellow, Dr Honoris Causa)

LARM2 webpage: http://larmlaboratory.net

http://larmlaboratory.net/

1

ELENCO DELLE PUBBLICAZIONI di

MARCO CECCARELLI

Prof Marco Ceccarelli (IFToMM President 2016-19, ASME fellow, Dr Honoris Causa) LARM2: Laboratory of Robot Mechatronics Dept of Industrial Engineering; University of Rome Tor Vergata Via del Politecnico 1, 00133 Roma, Italy Phone +39-06-72597177 email: [email protected] LARM2 webpage: http://larmlaboratory.net

mailto:[email protected]://larmlaboratory.net/

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ELENCO DELLE PUBBLICAZIONI di Marco Ceccarelli 1. Vinciguerra A., Venturi A., Ceccarelli M., "On the Computer Simulation Path of a Spin-Axis Point in Gyro-Compasses",

International Symposium on Design and Synthesis, Tokyo, 11-13 July 1984, pp. 825-829. 2. Vinciguerra A., Lee T.W., Ceccarelli M., "Utilità nell'uso di cooordinate sferiche per la risoluzione di alcuni problemi di

cinematica applicata", VII Congresso Nazionale AIMETA, Trieste, 2-5 Ott. 1984, Vol.III, pp. 1-12. 3. Ceccarelli M., Nieto N. J., Vinciguerra A., "Some Kinematic Considerations on a Chebyshev Four-Bar Approximate

Straight-Line and Quasi-Circular Mechanism", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Gijon, Año 2, Vol.II, Dic. 1984, pp. 358-363.

4. Ceccarelli M., Nieto N. J., Vinciguerra A., "On the Coupler Curves of Watt Four-Bar Approximate Straight-Line Mechanisms", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Madrid, Año 3, n.3 Dic. 1985, pp. 125-135.

5. Ceccarelli M., Nieto N. J., Vinciguerra A., Venturi A., "Kinematic Characteristics of Some Evans Mechanisms", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Madrid, Año 3, n.3, Dic. 1985, pp. 137-142.

6. Venturi A., Vinciguerra A. Nieto N. J., Ceccarelli M., "The Rocker Oscillations of Hypocycloid Mechanisms", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Madrid, Año 3, n.3, Dic. 1985, pp. 519-524.

7. Ceccarelli M., Cuadrado I.J., Fuenmayor F.F., "A Synthesis Method of Some Circle-Tracing Four-Bar Linkages", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Madrid, Año 3, n.3, Dic. 1985, pp. 119-123.

8. Vinciguerra A., Aulisa L., Ceccarelli M., "Stabilità e comportamento elastico del rachide", Minerva Ortopedica e Traumatologica, Vol.37, n.11, Nov. 1986, pp. 717-723.

9. Ceccarelli M., "Analytical Design of Circle-Tracing Four-Bar Linkages", II Convegno Italiano di Meccanica Computazionale, Roma, Giu. 1987, pp. 235-239.

10. Vinciguerra A., Nieto N. J., Ceccarelli M., Venturi A., "On a Mechanical Model of an Unmanned DeepOcean Remote Operated System", VII IFToMM World Congress, Sevilla, Sett. 1987, Vol.2, pp. 1163-1166.

11. Nieto N. J., Vinciguerra A., Brach del Prever E., Ceccarelli M., "Estimate of Torsional Stiffness and Shear Moduli of Human Cervical Spine Discs", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Murcia, Año 5, n.2, Dic. 1987, pp. 193-197.

12. Ceccarelli M., Vinciguerra A., " A Design Method of Three Revolute Open Chain Manipulators", VII CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Hermes, Paris, 1990, pp. 318-325.

13. Vinciguerra A., Venturi A., Ceccarelli M., "A Method to Introduce Momentary Higher-Order Dwells in Hypocycloidal Reciprocators", IX Congresso Nazionale AIMETA, Bari, Ott. 1988, Vol.I, pp. 197-200.

14. Ceccarelli M., Nieto N. J., "Kinematic Evaluation of a Robotic Gripper", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Valencia, Año 6, n.1, Dic. 1988, pp. 159-164.

15. Ceccarelli M., "On the Workspace of 3R Robot Arms", Fifth IFToMM International Symposium on Theory and Practice of Mechanisms, Bucharest, 1989, Vol.II-1, pp. 37-46.

16. Ceccarelli M., Vinciguerra A., Venturi A., "On the Accuracy of Chebyshev's Approximate Circle-Tracing Mechanisms", X Congresso Nazionale AIMETA, Pisa, Ott. 1990, Vol.2, pp. 605-610.

17. Ceccarelli M., Cuadrado I.J., "North Pointing Stability in Gyrocompasses", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Zaragoza, Año 8, n.1, 1990, pp. 69-73.

18. Vinciguerra A., Ceccarelli M., Nieto N.J., "El Movimiento de los Dedos en el Diseño de las Pinzas de Robots", Revista de Robotica y de Automatizacion Integrada, Ed. Pulsar, Barcellona, 1991, n.57, pp. 99-103.

19. Ceccarelli M., "Grasping Force Capability of Gripper Mechanisms", VIIIth IFToMM World Congress, Prague, Ago. 1991, Vol.4, pp. 1181-1184.

20. Aulisa L., Robles M., Vinciguerra A., Ceccarelli M., "Biomechanical Principles in Segmental Spinal Instrumentation", Fourth International Symposium on Biomedical Engineering, Peñiscola, Sett. 1991, Vol.1, pp. 67-69.

21. Mata V., Ceccarelli M., Valero F., "Diseño Optimo de un Manipulador Espacial con Tres Pares de Revolucion", Segundo Congreso de la Asociacion Española de Robotica, Saragozza, Nov. 1991, pp. 213-220.

22. Ceccarelli M., Cuadrado J.I., Mata Amela V., "Còmo Proyectar la Cadena Cinemàtica de Robots Manipuladores", Rivista Proyecto 2000, Ed. Pulsar, Barcellona, Feb. 1992, n.74, pp. 67-77.

23. Ceccarelli M., Vinciguerra A., "Workspace Evaluation of General 4R Manipulators", 3rd International Workshop on Advances in Robot Kinematics, Parenti Castelli V. &Lenarcic J. (Editors), Ferrara, Sett. 1992, pp.313-317.

24. Ceccarelli M., "A Synthesis Algorithm of Three-Revolute Manipulators by means of the Workspace Contour Algebraic Formulation", 22nd ASME Biennial Mechanisms Conference, Scottsdale, Sett. 1992, DE-Vol.45, pp.397-403.

25. Ceccarelli M., Mata V., Valero F., "An Optimization Formulation of Three-Revolute Manipulator Synthesis", XI Congresso Nazionale AIMETA, Trento, Sett. 1992, Vol. Meccanica delle Macchine, pp.91-96.

25bis. Ceccarelli M., Mata V., Valero F., "Optimal Synthesis of Three-Revolute Manipulators", AIMETA International Journal Meccanica, Kluwer, Dordrecht, 1994, Vol.29, n.1, pp.95-103.

26. Ceccarelli M., Gradini G., Papa L., "On the Design of Driving Mechanisms in Two-Finger Grippers", 23rd International Symposium on Industrial Robots, Barcellona, Ott. 1992, pp.568-571.

27. Ceccarelli M., Gradini G., "Gripper a due dita: classificazione ed ottimizzazione", Convegno SIRI-UCIMU "Il Montaggio Automatico", Milano, 26 Nov. 1992, pp. 13.1-13.15.

27bis. Ceccarelli M., Gradini G., "Meccanismi per pinze di robot", rivista dell'Associazione Italiana Progettisti Industriali "Progettare", 1994, n.167, pp.76-81.

28. Ceccarelli M., Garcìa-Lomas J., "On the Dynamics of Two-Link Manipulators", Sixth IFToMM International Symposium on Theory and Practice of Mechanisms, Bucharest, Giugno 1993, Vol.II, pp.45-52.

29. Ceccarelli M., Carrino L., "Designing Manipulator Structures for Robotized Manufacturing", 2nd International Workshop on Robotics in Alpe Adria Region, Krems, Giugno 1993, SU 3.1-pp.1-8.

29bis.Ceccarelli M., Carrino L., "Designing Manipulator Structures for Robotized Manufacturing", Robotics in Alpe Adria Region, P.Kopacek (Editor), Springer-Verlag, Wien, 1994, pp.84-88.

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30. Ceccarelli M., "Optimal Design and Location of Manipulators", NATO Advanced Study Institute on Computer Aided Analysis of Rigid and Flexible Mechanical Systems, Troia, Luglio 1993. Vol.II, pp.299-310.

30bis.Ceccarelli M., "Optimal Design and Location of Manipulators", in: Computational Dynamics in Multibody Systems, M.F.O.S. Pereira and J.A.C. Ambrosio (Editors), Kluwer, Dordrecht, 1995, pp.131-146.

31. Ceccarelli M., Nieto N.J., "El Agarre con Pinzas de Dos Dedos", 1° Congresso Iberoamericano di Ingegneria Meccanica, Madrid, 21-24 Settembre 1993, Vol.4, pp.171-176.

32. Mata A.V., Ceccarelli M., "Funciones Objectivo para la Optimizaciòn de la Cadena Cinemàtica de Robots", 1° Congresso Iberoamericano di Ingegneria Meccanica, Madrid, 21-24 Settembre 1993, Vol.3, pp.47-54.

33. Ceccarelli M., Ferraresi C., Sorli M., "Stiffness Evaluation of a 6 D.o.f. Platform Prototype", Third International Symposium on Measurements and Control in Robotics, Torino, Sett. 1993, pp.Bm.III 19-20.

34. Ceccarelli M., "A Boundary Formulation for General Hyper-Rings in 5R Manipulators", Sixth International Conference on Advanced Robotics, Tokyo, Nov. 1993, pp.631-636.

35. Sorli M., Ceccarelli M., "On the Workspace of a 6 D.o.f. Platform with Three Articulated Double-Parallelograms", Sixth International Conference on Advanced Robotics, Tokyo, Nov. 1993, pp.147-152.

36. Vinciguerra A., Ceccarelli M., "A Pitch Device for Dexterity Improvement of SCARA Robot", 24th International Symposium on Industrial Robots, Tokyo, Nov. 1993, pp.761-766.

37. Carrino L., Ceccarelli M., Anamateros E., "A Feasibility Study for the Automation of a Filament 3D Winding with an Advanced Composite Material", in: Advancing with Composites '94, CrivelliViscontiI. (Editor), Woodhead Publ., Cambridge, 1994, Vol.II, pp. 425-435.

38. Ceccarelli M., "Determination of the Workspace Boundary of a General N-Revolute Manipulator", in: Advances in Robot Kinematics and Computational Geometry, Lenarcic J. and Ravani B. (Editors), Kluwer, Dordrecht, 1994, pp.39-48.

39. Valero F., Cuadrado J.I., Mata V., Ceccarelli M., "Collision-Avoidance Robot Path Planning Using Fully Cartesian Coordinates", in: Advances in Robot Kinematics and Computational Geometry, Lenarcic J. and Ravani B. (Editors), Kluwer, Dordrecht, 1994, pp.485-494.

40. Ceccarelli M., "Design Problems for Industrial Robot Two-Finger Grippers", 3rd International Workshop on Robotics in Alpe-Adria Region, Bled, Luglio 1994, pp.117-120.

41. Belforte G., Ceccarelli M., Sorli M., "A Concurrent Design Formulation for a Two-Finger Gripper", Third World Congress on Computational Mechanics, Chiba, 1994, Vol.II, pp. 1735-1736.

42. Iacoviello F., Ceccarelli M., "A Fatigue Design for a Robot Arm", Third World Congress on Computational Mechanics, Chiba, 1994, Vol.II, pp. 1034-1035.

43. Ceccarelli M., "An Algebraic Formulation of the Workspace Determination of General 4R Manipulators", 10th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators, Morecki A. Bianchi G. and Jaworek K. (Eds), Springer-Verlag, Wien, 1995, pp.39-48.

44. Ceccarelli M., Cuadrado J.I., Mata V., Sorli M., "An Algorithm for the Inverse Kinematics of a Turin Platform", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Valencia, Año 10, n.1, Nov. 1994, pp. 27-34.

45. Ceccarelli M., Iacoviello F., "A Fatigue Approach for Material Selection and Dimensional Design of Robots", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Valencia, Año 10, n.1, Nov. 1994, pp. 19-25.

46. Ceccarelli M., Vinciguerra A., "On the Workspace of General 4R Manipulators", International Journal of Robotics Research, The MIT Press, Cambridge, 1995, 14:2, pp.152-160.

47. Cigola M., Ceccarelli M., "On the Evolution of Mechanisms Drawing", IXth IFToMM World Congress, Milano, 1995, Vol.4, pp.3191-3195.

47bis.Ceccarelli M., Cigola M., "Evoluzione della rappresentazione grafica nel progetto dei meccanismi", Il Disegno nel Progetto: dalle origini al XVIII secolo, Docci M. (Editor), Gangemi, Roma, 1997, pp.427-433.

48. Vinciguerra A., Ceccarelli M., "Analysis and Synthesis of Chebyshev's Approximate Circle-Tracing Four-Bar Mechanisms", IXth IFToMM World Congress, Milano, 1995, Vol.1, pp.311-315.

49. Ceccarelli M., "Screw Axis Defined by Giulio Mozzi in 1763", IXth IFToMM World Congress, Milano, 1995, Vol.4, pp.3187-3190.

50. Ceccarelli M., Scaramuzza G., "Analytical Constraints for a Workspace Design of 2R Manipulators", Computational Kinematics '95, Merlet J.P and Ravani B. (Eds), Kluwer, Dordrecht, 1995, pp.173-182.

51. Ceccarelli M., Iacobone F., Carrino L., Anamateros E., "On the Manipulation of a Composite Material Roving for a 3D Winding Manufacturing", 26th International Symposium on Industrial Robots, Singapore, 1995, pp.597-602.

52. Ceccarelli M., "A Synthesis Algorithm for Three-Revolute Manipulators by Using an Algebraic Formulation of Workspace Boundary", ASME Journal of Mechanical Design, Vol. 117, June 1995, pp.298-302.

53. Ceccarelli M., Gabriele E., "Determining Primary and Secondary Workspaces of Industrial Robots", 4th International Workshop on Robotics in Alpe-Adria Region, Portsach, 1995, Vol-II, pp.259-262.

54. Ceccarelli M., Sorli M., "Effetto dei parametri geometrici del robot parallelo Piattaforma di Torino sullo spazio di lavoro", XII Congresso Nazionale AIMETA, Napoli, 1995, Vol.III - Meccanica delle Macchine, pp.93-98.

55. Ceccarelli M., "Mecanica en la automatizacion industrial: un caso de estudio para la separacion de ladrillos", CD 2° Congresso Iberoamericano di Ingegneria Meccanica, Belo Horizonte, 1995.

56. Ceccarelli M., Vinciguerra A., "Fiabilidad de una nueva Plataforma Romana", CD 2° Congresso Iberoamericano di Ingegneria Meccanica, Belo Horizonte, 1995.

57. Vinciguerra A., Ceccarelli M., "Geometria de manipulacion robotica durante el movimiento de cabaceo", CD 2° Congresso Iberoamericano di Ingegneria Meccanica, Belo Horizonte, 1995.

58. Ceccarelli M., Valero F., Mata V., Cuadrado J.I., "Generation of Adjacent Configurations for a Collision-Free Path Planning of Manipulators", International Journal ROBOTICA, 1996, Vol.14, pp.391-396.

59. Ceccarelli M., "A Formulation for the Workspace Boundary of General N-Revolute Manipulators", IFToMM Journal Mechanism and Machine Theory, Vol.31, 1996, pp.637-646.

60. Ceccarelli M., "A Study of Feasibility for a New Wrist", Robotic and Manufacturing Systems, Vol.3, TSI Press, Albuquerque, 1996, pp.161-166.

61. Figliolini G., Marotta F., Ceccarelli M., "Analyzing Gripping Mechanisms for Two-Finger Grippers", 5th International

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Workshop on Robotics in Alpe-Adria-Danube Region RAAD'96, Budapest, 1996, pp.339-343. 62. Ceccarelli M., LuyckxI., Vanaelten W., "Grasp Forces in Two-Finger Grippers: Modelling and Measuring", 5th International

Workshop on Robotics in Alpe-Adria-Danube Region RAAD'96, Budapest, 1996, pp. 321-326. 63. Ceccarelli M., "Feasible Workspace Regions for a Two-Revolute Manipulator Design", Recent Advances in Robot

Kinematics, Kluwer, Dordrecht, 1996, pp.189-198. 64. Figliolini G., Ceccarelli M., "A Mechanical Design of an Electropneumatic Antropomorphic Walking Robot", 11th CISM-

IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.'96, Springer-Verlag, Wien, 1996, pp.189-196.

65. Ceccarelli M., Volante G., Carrino L., Anamateros E., "A Feeding Device for Composite Material Rovings in a Robotized 3D Winding Manufacturing", 27th International Symposium on Industrial Robots, Milano, 1996, pp.987-992.

66. Ceccarelli M., Figliolini G., "A Modular Mechanical Design of a Two-Finger Gripper for Industrial Robots", 27th International Symposium on Industrial Robots, Milano, 1996, pp.695-700.

67. Ceccarelli M., "A Workspace Analysis for RRP Manipulators", Proc. of 1996 ASME Design Engineering Technical Conferences, 24th Biennial Mechanisms Conference, Irvine, 1996, paper 96DETC-Mech1012.

68. Ceccarelli M., "Displacement Analysis of a Turin Platform Parallel Manipulator", International Journal Advanced Robotics, Vol.11, n.1, 1997, pp.17-31.

69. Valero F., Mata V., Cuadrado J.I., Ceccarelli M., "A Formulation for Path Planning of Manipulators in Complex Environments by using Adjacent Configurations", International Journal of Advanced Robotics, Vol.11, n.1, 1997, pp.33-56.

70. Figliolini G., Ceccarelli M., "A Mechanical Design of an Articulated Finger Mechanism", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Bilbao, Año 11, n.1, Vol.3, Feb 1997, pp. 259-266.

71. Ceccarelli M., "Diseño Optimo de Brazos Manipuladores respecto al Espacio de Trabajo", Anales de Ingenierìa Mecànica, Associazione Spagnola di Ingegneria Meccanica, Bilbao, Año 11, n.1, Vol.3, Feb 1997, pp. 243-250

72. Deibe A., Cardenal J., Cuadrado J., Ceccarelli M., "Sintesis optima de mecanismos para pinzas roboticas", Associazione Spagnola di Ingegneria Meccanica, Bilbao, Año 11, n.1, Vol.3, Feb 1997, pp. 235-242.

73. Ceccarelli M., Pacitto D., Jimenez J.M., "A Dynamic simulation of Cassino Parallel Manipulator by means of COMPAMM Software", 6th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'97, Cassino, 1997, pp.277-282.

74. Moroni G., Carrino L., Ceccarelli M., Anamateros E., "Robotized Filament Winding Manufacturing: Some Experiences", 6th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'97, Cassino, 1997, pp.535-540.

75. Ceccarelli M., "An Optimum Design for a Gripping Mechanism", International Symposium Machines and Mechanisms ISMM'97, Beograd, 1997, pp.23-26.

76. Ceccarelli M., Figliolini G., "Trajectories Traced by a New Rome Platform", International Symposium Machines and Mechanisms ISMM'97, Beograd, 1997, pp.19-22.

77. Figliolini G., Ceccarelli M., "Easy Programming of an Electropneumatic Walking Robot", 5th International Symposium on Robot Control SYROCO'97, Nantes, 1997, Vol.3, pp.793-800.

78. Ceccarelli M., Figliolini G., "Proyecto de un mecanismo para un robot bipedo", 3° Congresso Iberoamericano di Ingegneria Meccanica, CD Proceedings, La Habana, 1997, paper 3-286.

79. Ceccarelli M., Cuadrado I., "Sobre el Essai sur la Composition des Machines por Jose Maria De Lanz y Augustin de Betancourt en 1808", 3° Congresso Iberoamericano di Ingegneria Meccanica, CD Proceedings, La Habana, 1997, paper 6-177.

80. Ceccarelli M., Figliolini G., "Progettazione di un meccanismo per gambe robotiche antropomorfe", XIII Congresso Nazionale AIMETA, Siena, 1997, Vol.II - Meccanica delle Macchine, pp.243-248.

81. Ceccarelli M., Figliolini G., "Mechanical Characteristics of CaPaMan (Cassino Parallel Manipulator)", 3rd Asian Conference on Robotics and Its Application, Tokyo, 1997, pp.301-308.

82. Ceccarelli M., "A New 3 D.O.F. Parallel Spatial Mechanism", IFToMM Journal Mechanism and Machine Theory, 1997, Vol.32, n.8, pp.895-902.

83. Ceccarelli M., "Manipulation Analysis and Programming for Optimum use of Industrial Robots", World Automation Conference WAC'98, Anchorage, 1998, paper ISORA-033, pp.1-6.

84. Ceccarelli M., Figliolini G., Simon A., "Designing a Robotic Gripper for Harvesting of Horticulture Products”, 28th Int. Symposium on Robotics ISR’98, Birminghan, 1998, pp.175-178.

85. Ceccarelli M., Ottaviano E., Besa A., "Experimental Determination of Robot Workspace by Using a Laser System”, 7th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'98, Smolenice, 1998, pp.203-208.

86. Ceccarelli M., Figliolini G., "Electropneumatic Systems for Force Control for Two-Finger Grippers in Robots”, 7th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'98, Smolenice, 1998, pp.197-202.

87. Ceccarelli M., "An Analytical Design of Telescopic Manipulator Arms for Prescribed Workspace”, Advances in Robot Kinematics: Analysis and Control, Kluwer, Dordrecht, 1998, pp.247-254.

88. Ceccarelli M., Sorli M, " Effect of Design Parameters on the Workspace of Turin Parallel Robot", International Journal of Robotics Research, Vol.17, n.8, 1998, pp.886-902.

89. Figliolini G., Ceccarelli M., "A Motion Analysis for One Dof Anthropomorphic Finger Mechanism", CD Proc. of 1998 ASME Design Engineering Technical Conferences, 25th Biennial Mechanisms Conference, Atlanta, 1998, paper DETC98-Mech-5985.

90. Ceccarelli M., "A Stiffness Analysis for CaPaMan (Cassino Parallel Manipulator), Proc. of Conference on New Machine Concepts for Handling and Manufacturing Devices on the Basis of Parallel Structures, VDI 1427, Braunschweig, 1998, pp.67-80.

91. Ceccarelli M., Lanni C., Mata V., "Problemas numericos en la evaluacion del Espacio de Trabajo de robots", Anales de Ingenierìa Mecànica, Terrasa, Año 12, Vol. 1, Dic. 1998, pp.265-269.

92. Besa A.J., Rubio F. J., Ottaviano E., Ceccarelli M., "Utilizaciòn de un sistema de rastreo laser para la calibraciòn cinemàtica de un robot PUMA 500", Anales de Ingenierìa Mecànica, Terrasa, Año 12, Vol. 1, Dic. 1998, pp. 225-231.

93. Figliolini G., Ceccarelli M., "Simplifying dynamic equation for planar mechanical systems", Anales de Ingenierìa Mecànica, Terrasa, Año 12, Vol. 1, Dic. 1998, pp.304-309.

94. Ceccarelli M., "Workspace Analysis and Design of Open Chain Manipulators", Computing Anticipatory Systems, Dubois

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D.M. (Editor), American Institute of Phyiscs, New York, 1998 pp.338-355. 95. Ceccarelli M., "Mechanism schemes in Teaching: A Historical Overview", ASME Journal of Mechanical Design, 1998,

Vol.120, pp.533-541. 96. Ceccarelli M., "On the Workspace of Telescopic Manipulators", International Journal ROBOTICA, 1998, Vol.16, pp.691-

696. 97. Figliolini G., Ceccarelli M., "Epicyclic Gearings and Timing Belts for an Articulated Finger", 4th World Congress on Gearing

and Power Transission, Paris, 1999, Vol.3, pp 2533-2538. 98. Ceccarelli M., "Analyzing a Robotized Workcell to Enhance Robot's Operation", Journal of Robotics and Mechatronics,

1999, Vol.11, n.1, pp.67-71. 99. Ceccarelli M., Toti M.E., Ottaviano E., "CATRASYS (Cassino Tracking System): A New Measuring System for Workspace

Evaluation of Robots”, 8th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'99, Munich, 1999, pp. 19-24.

100. Ceccarelli M., Pugliese F., Carvalho J.C.M., "An Experimental System for Measuring CaPaMan Characteristics”, 8th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD'99, Munich, 1999, pp.31-36.

101. Ceccarelli M., “Cinematica della Biella Piana by Lorenzo Allievi in 1895", Xth IFToMM World Congress, Oulu, 1999, Vol.1 , pp. 37-42.

102. Ottaviano E., Ceccarelli M., Lanni C., “A Characterization of Ring Void in Workspace of Three-Revolute Manipulators", Xth IFToMM World Congress, Oulu, 1999, Vol.3, pp.1039-1044.

103. Lanni C., Ceccarelli M., Ottaviano E., Figliolini G., "Mechanisms for Pantograph Legs: Structures and Characteristics", Xth IFToMM World Congress, Oulu, 1999, Vol.3, pp.1196-1201.

104. Carvalho J.C.M., Ceccarelli M., "A Dynamic Analysis for Cassino Parallel Manipulator", Xth IFToMM World Congress, Oulu, 1999, Vol.3, pp.1202-1207.

105. Ceccarelli M., Lanni C., “Sintesis optima de brazos manipuladores considerando las caracteristicas de su espacio de trabajo”, Revista Iberoamericana de Ingenieria Mecanica, Vol.3, n.1, 1999, pp.49-59.

106. Ceccarelli M., "Grippers as Mechatronic Devices”, Advances in Multibody Systems and Mechatronics, Duisburg, 1999, pp.115-130.

107. Figliolini G., Ceccarelli M., "Walking Programming for an Electropneumatic Biped Robot", Journal of Mechatronics, 1999, Vol.9, pp.941-964.

108. Ceccarelli M., Ottaviano E., Toti M., Lanni C., “Progettazione e Sperimentazione di CaTraSys (Cassino Tracking System)”, XIV Congresso Nazionale AIMETA, Como, 1999, CD Proc., Meccanica applicata alle macchine - Paper 17.

109. Ceccarelli M., Carvalho J.C.M., Pugliese F., Lanni C., “CaPaMan as Sensored Earthquake Simulator, International Conference on Intelligent Robots and Systems IROS’99, Kyongiu, 1999, Vol. 3, pp.1501-1506.

110. Lanni C., Ceccarelli M., Carvalho J.C.M., "An Analytical Design for Two-Circular Cams", 4° Congreso Iberoamericano di Ingenieria Mecanica, Santiago de Chile, 1999, Vol. 2.

111. Carvalho J.C.M., Ceccarelli M., "Earthquake Simulation by means of CAPAMAN", 4° Congreso Iberoamericano di Ingenieria Mecanica, Santiago de Chile, 1999, Vol. 2.

112. Gutiérrez A.G., Rozas R.R., Ceccarelli M., Figliolini G., “Estudio Comparativo de los Robots Bipedos de Santiago de Chile y EP-WAR de Cassino”, 4° Congreso Iberoamericano de Ingenieria Mecanica, Santiago de Chile, 1999, Vol. 2.

113. Simon A., Ceccarelli M., E., Figliolini G., Cabrera J., “Organo aprehensor para la recoleccion de productos hortofruticolas”, 4° Congreso Iberoamericano de Ingenieria Mecanica, Santiago de Chile, 1999, Vol. 2.

114. Carvalho J.C.M., Ceccarelli M., "Seismic Motion Simulation Based on Cassino Parallel Manipulator", XVth Brazilian Congress on Mechanical Engineering COBEM99, Campinas, 1999, CD Proc., paper AAACEF-S22; Journal of the Brazilian Society of Mechanical Sciences, Vol.25, n.3, july 2002, pp.213-219.

115. Ceccarelli M., Fino P.M., Jimenez J.M., “A Dynamic Analysis of Cassino Parallel Manipulator in Natural Coordinates”, The International Workshop on Parallel Machines, Milano, 1999, paper PKM37, pp.87-92.

116. Ceccarelli M., "A Manipulation Analysis for Robot Programming", Int. Journal Robotica, 1999, Vol.17, pp.529-541. 117. Ceccarelli M., “Numerical Simulation and Experimental Determination of Manipulator Workspace”, Vth International

Conference on Simulation and Artificial Intelligence, Mexico City, 2000, Invited Lecture, pp.81-84. 118. Ceccarelli M., E., Figliolini G., E. Ottaviano, Simon Mata A., Jimenez Criado E., “Designing a Robotic Gripper for

Harvesting of Horticulture Products”, Int. Journal Robotica, 2000, Vol.18, pp.105-111. 119. Ceccarelli M., “Screw Axis defined by Giulio Mozzi in 1763 and Early Studies on Helicoidal Motion”, Mechanism and

Machine Theory, 2000, Vol.35, pp.761-770. 120. Ottaviano E., Toti M., Ceccarelli M., “Grasp Force Control in Two-Finger Grippers with Pneumatic Actuation”, International

Conference on Robotics and Automation ICRA2000, San Francisco, 2000, paper R0095, pp.1976-1981. 121. Ceccarelli M., Angeles J., “A Numerical Evaluation of the Workspace of a Seven-Axis, Redundant Manipulator”,

International Conference on Robotics and Automation ICRA2000, San Francisco, 2000, paper R0096, pp.2551-2556. 122. Ceccarelli M., “Italian Kinematic Studies in XIXth Century”, International Symposium on History of Machines and

Mechanisms HMM2000, Kluwer, Dordrecht, 2000, pp.197-206. 123. Ceccarelli M., Paglia R., Lanni C., “Analysis and Optimization of a Robotized Workcell in Fiat Plant”, 9th International

Workshop on Robotics in Alpe-Adria-Danube Region RAAD2000, Maribor, 2000, pp.361-366. 124. Ceccarelli M., Park F.C., E. Ottaviano, Kim J., “Workspace Analysis of the Eclipse Robot”, 9th International Workshop on

Robotics in Alpe-Adria-Danube Region RAAD2000, Maribor, 2000, pp.269-274. 125. Ceccarelli M., “Early Studies in Screw Theory”, Advances in Robot Kinematics: Analysis and Control, Kluwer, Dordrecht,

2000, pp.451-460 . 126. Figliolini G., Lanni C., Ceccarelli M., “On the Kinematic Synthesis of non-circular gears”, International Journal on Gearing

and Transmissions, 2000, Vol.3, pp.90-98. 127. Ceccarelli M., “Preliminary Studies to Screw Theory in XVIIth Century”, Ball Conference, Cambridge, CD Proceedings,

July 2000. 128. Ottaviano E., Herrera Tobarvela D., Figliolini G., Ceccarelli M., Simon Mata A.,“Experimental Validation of a Force Control

System for Robotic Two-Finger Grippers”, 7th Mechatronics Forum Int. Conference, Atlanta, 2000, paper 092.

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129. Ceccarelli M., Ottaviano E., “An Analytical Design for CaPaMan with Prescribed Position and Orientation”, 2000 ASME Biennial Mechanisms and Robotics Conference, Baltimore, 2000, paper DETC2000/MECH-14099.

130. Figliolini G., Ceccarelli M., “Mechanical Design of One D.O.F. Articulated Finger Mechanism”, 2000 ASME Biennial Mechanisms and Robotics Conference, Baltimore, 2000, paper DETC2000/MECH-14132.

131. Ceccarelli M., “An Overview of History of Robotics with an Eye to the Future”, Proc. Of 2000 IEEE International Conference on Intelligent Engineering Systems, Portoroz, 2000, Plenary Paper 4, pp.25-33.

132. Figliolini G., Ceccarelli M., M.T. Llorens, “Logical Sensors and PLC Programming for Autonomous Biped Walking Robot”, International Conference on Intelligent Robots and Systems IROS2000, 2000, Vol.2, pp.1346-1351.

133. Ceccarelli M., Figliolini G., Lanni C., Ottaviano E., “A Study of Feasibility for Rickshaw Type Mobile Robot”, 2000 IEEE Int. Conference on Industrial Electronis, Control and Instrumentation, Nagoya, 2000, paper MT9-MRC-2.

134. Ceccarelli M., Figliolini G., Lanni C., Altrui A., “Simulation and Optimization of an Industrial Automatic Packing”, 2000 IEEE Int. Conference on Industrial Electronis, Control and Instrumentation, Nagoya, 2000, paper FNI3-MAS-1

135. Ceccarelli M., Avila Carrasco C., Ottaviano E., “Error Analysis and Experimental Tests of CATRASYS (Cassino Tracking System)”, 2000 IEEE Int. Conference on Industrial Electronis, Control and Instrumentation, Nagoya, 2000, paper SPC11-SP2-4.

136. Figliolini G., Ceccarelli M., Di Cocco V., “Binary Pneumatic Actuators for a Leg Mechanism of Walking Robot”, 3rd Int. Conference on Climbing and Walking Robots ClaWar2000, Madrid, 2000, pp.575-582.

137. Ceccarelli M., Vinciguerra A., “Approximate Four-Bar Circle-Tracing Mechanisms: Classical and New Synthesis”, Mechanism and Machine Theory, 2000, Vol.35, n.11, pp.1579-1599.

138. Ottaviano E., Ceccarelli M., “An Optimization problem for optimum design of CaPaMan (Cassino Parallel Manipulator) with prescribed workspace”, Anales de Ingenierìa Mecànica, Año 13, Leganes, 2000, Vol. 4, pp. 2361-2366.

139. Ceccarelli M., Figliolini G., Ottaviano E., Herrera D.T., Simon A.M., “Experimental results on the grasping of a two-finger gripper”, Anales de Ingenierìa Mecànica, Año 13, Leganes, 2000, Vol. 2, pp. 1495-1500.

140. Carvalho J.C.M., Ceccarelli M., "A Closed Form Formulation for the Inverse Dynamics of Cassino Parallel Manipulator", Journal Multibody System Dynamics, 2001, Vol.5, pp.185-210 and 2001, Vol.6, pp.303.

141. Ceccarelli M., Ottaviano E., Toti M. "Experimental Determination of Robot Workspace by means of CATRASYS /Cassino Tracking System)", 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.'2000, Springer-Verlag, Wien, 2000, pp.85-92.

142. Valero F., Mata V., Ceccarelli M., "Path Planning in Complex Environments for Industrial Robots with Additional Degrees of Freedom", 13th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.2000, Springer-Verlag, Wien, 2000, pp.431-438.

143. Ceccarelli M., Cigola M., “Trends in the drawing of mechanisms since the early Middles Ages”, Proceedings of the Institution of Mechanical Engineers, 2001, Vol.215, Part C, pp. 269-289.

144. Ceccarelli M., Carbone G., Kerle H., “Designing Mechanisms for Two-Finger Microgrippers”, 10th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD2001, Wien, 2001, CD-Proc., paper RD-021.

145. Ottaviano E., Gosselin C. M., Ceccarelli M., “Singularity Analysis of CaPaMan: A Three-Degree of Freedom Spatial Parallel Manipulator”, IEEE International Conference on Robotics and Automation ICRA2001, Seoul, 2001 pp.1295-1300.

146. Figliolini G., Ceccarelli M., “Climbing Stairs with EP-WAR2 Biped Robot”, IEEE International Conference on Robotics and Automation ICRA2001, Seoul, 2001, pp.4116-4121.

147. Ottaviano E., Ceccarelli M., “Optimal Design of CAPAMAN (Cassino Parallel Manipulator) with Prescribed Workspace”, 2nd Workshop on Computational Kinematics KC2001, Seoul, 2001, pp.35-43.; IFToMM Electornic Journal of Computational Kinematics EJCK, Vol.1, May 2002, paper no.4, www.sop.inria.fr/coprin/EJCK/EJCK.html.

148. Carbone G., Ceccarelli M., Teolis M., “A Numerical Evaluation of the Stiffness of CaHyMan (Cassino Hybrid Manipulator)”, 2nd Workshop on Computational Kinematics KC2001, Seoul, 2001, pp.145-154 IFToMM Electornic Journal of Computational Kinematics EJCK, Vol.1, May 2002, paper no.14, www.sop.inria.fr/coprin/EJCK/EJCK.html.

149. Cuadrado J., Naya M.A., Ceccarelli M., Carbone G., “An optimum Design Procedure for Two-Finger Grippers: A Case of Study”, 2nd Workshop on Computational Kinematics CK2001, Seoul, 2001, pp.21-33 IFToMM Electornic Journal of Computational Kinematics EJCK, Vol.1, May 2002, paper no.3, www.sop.inria.fr/coprin/EJCK/ EJCK.html.

150. Provenzano S., Mata V., Ceccarelli M., Suner J.L., “Efficient Computation of the Generalized Tensor of Robots by Using the Gibbs-Appell Equations”, 2nd Workshop on Computational Kinematics CK2001, Seoul, 2001, pp.85-92 IFToMM Electornic Journal of Computational Kinematics EJCK, Vol.1, May 2002, paper no.4, www.sop.inria.fr/coprin/EJCK/EJCK.html.

151. Carvalho J.C.M., Ceccarelli M., “The Inverse Dynamics of Cassino Parallel Manipulator”, 2nd Workshop on Computational Kinematics CK2001, Seoul, 2001, pp.301-308 IFToMM Electornic Journal of Computational Kinematics EJCK, Vol.1, May 2002, paper no.28, www.sop.inria.fr/coprin/EJCK/EJCK.html.

152. Ottaviano E., Lanni C., Ceccarelli M., “Experimental Determination of Workspace Characteristics of Human Arms”, 9th International Conference on Control and Automation MED 2001, Dubrovnik, 2001, CD Proceedings, paper n.017.

153. Ottaviano E., Ceccarelli M., ”Optimal Design of CaPaMan (Cassino Parallel Manipulator) With Prescribed Position and Orientation Workspace”, 9th International Conference on Control and Automation MED 2001, Dubrovnik, 2001, CD Proceedings, paper n.009.

154. Lanni C. Pugliese F., Ceccarelli M., “Experimental validation of CaPaMan as Earthquake Simulator”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM’01, Como, 2001, CD Proceedings, paper E-059-ZV.

155. Lanni C., Ceccarelli M.,2001, Figliolini G., “An Analitical Formulation for Two Circular-Arc Cams”, CSME Transactions on Mechanical Engineering, Vol.25, N.1, pp.29-49.

156. Ottaviano E., Figliolini G., Lanni C., Ceccarelli M., Herrera D., Simon A., ”Validazioni sperimentali di un controllo della forza di presa in gripper a due dita”, XV Congresso Nazionale AIMETA di Meccanica Teorica e Applicata, Taormina, 2001, paper SP-ME44.

157. Ottaviano E., Gosselin C.M., Ceccarelli M., “Singularity Analysis of CaPaMan: A Three Degree-of-Freedom Spatial Parallel Manipulator”, Extended Abstract, EUROMECH 427 – Computational Techniques and Applications in Nonlinear Dynamics of Structures and Multibody Systems, Cachan, 2001.

158. Figliolini G., Ceccarelli M., “Gait analysis of EP-WAR2 Biped Robot for Walking and Climbing Stairs”, 4th Int. Conference

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on Climbing and Walking Robots ClaWar2001, Professional Engineering Publ., London,2001, pp.827-834. 159. Lanni C., Ceccarelli M., Figliolini G., Ottaviano E., Carbone G., “A Study of Feasibility of a Laboratory Test-Bed for Brake

Systems in Indutrial Vehicles”, V Congresso Iberoamericano di Ingegneria Meccanica, Merida, 2001, CD Proceedings, pp.645-650.

160. Sinatra R. , Pappalardo N., Ceccareli M., ”Dynamic Analysis of a New Robotic System for Surgical Application”, V Congresso Iberoamericano di Ingegneria Meccanica, Merida, 2001, CD Proceedings, pp.689-695.

161. Carbone G., Lanni C., Ceccarelli M., Lopez-Cajùn C., “Dynamic effects of Curvature Change in the Profile of Two-Circular-Arc Cams”, V Congresso Iberoamericano di Ingegneria Meccanica, Merida, 2001, CD Proceedings, pp.1247-1252.

162. Ceccarelli M., “Low-Cost Robots for research and teaching activity”, Keynote lecture, 5° Congreso Iberoamericano de Ingenieria Mecanica, Merida, 2001, CD Proceedings, 2nd Plenary Keynote.

163. Lanni C., Saramago S., Ceccarelli M., “Optimum Design of General 3R Manipulators by Using Traditional and Random Search Optimization Techniques”, Proceedings of COBEM2001, Uberlandia, 2001, Robotics and Control, Vol.15, pp.107-116; Journal of the Brazilian Society of Mechanical Sciences, 2002, Vol. XXIV, n.4, pp.293-301.

164. Mendes Carvalho J.C., Ceccarelli M., “Numerical Simulation and Experimental Validation of Dynamic Characteristics of CAPAMAN (Cassino Parallel Manipulator)”, Proceedings of COBEM2001, Uberlandia, 2001, Robotics and Control, Vol.15, pp.117-125.

165. Carbone G., Ceccarelli M., Penisi O., “An Optimum Design of a Mechanism for Microgrippers”, Proceedings of COBEM2001, Uberlandia, 2001, Mechanical System Design and Optimization, Vol.13, pp.194-203.

166. Ceccarelli M., “The Challenges for Machine and Mechanism Design at the Beginning of the Third Millennium as Viewed from the Past”, Proceedings of Brazilian Congress on Mechanical Engineering COBEM2001, Uberlandia, 2001, Invited Lectures, Vol.20, pp.132-151.

167. Ceccarelli M., “A Historical Perspective of Robotics Toward the Future”, Fuji International Journal of Robotics and Mechatronics, 2001, Vol.13, No.3, pp.299-313.

168. Carbone G., Ceccarelli M., Kerle H., Raatz A.,“Design and Experimental Validation of a Microgripper”, Fuji International Journal of Robotics and Mechatronics, 2001, Vol.13, No.3, pp.319-325.

169. Carbone G., Ceccarelli M., Takanishi A., Lim H., “A Study of Feasibility for a Low-Cost Humanoid Robot”, Humanoids 2001, Tokyo, pp.351-358.

170. Ceccarelli M., “From TMM to MMS: a Vision of IFToMM”, Bulletin IFToMM Newsletter, 2001, Vol.10. Nr.1. (http://www.caip.rutgers.edu/IFTOMM/).

171. Figliolini G., Ceccarelli M., Di Cocco V., “Walking stability of EP-WAR2 biped robot”, CD Proceedings of the Fourth European Workshop on Advanced Mobile Robots EUROBOT’01, Lund, 2001.

172. Ceccarelli M., Fino P.M.D., Jimenez J.M, "Dynamic Performance of CAPAMAN by Numerical Siumulations", Mechanism and Machine Theory, 2002, Vol.37, n.3, pp.241-246.

173. Figliolini G., Ceccarelli M., “A novel articulated mechanism mimicking the motion of index fingers”, International Journal Robotica, 2002, Vol.20, pp13-22.

174. Ottaviano E., Ceccarelli M., “Optimal Design of CAPAMAN (Cassino Parallel Manipulator) with Specified Orientation Workspace”, International Journal Robotica, 2002 , Vol.20, pp.159-166.doi:10.1017/S026357470100385X

175. Ceccarelli M., Carbone G., “A Stiffness Analysis of CaPaMan (Cassino Parallel Manipulator)”, Mechanism and Machine Theory, 2002, Vol.37 , n.5 , pp.427-439.

176. Carbone G., Wolf A., Ceccarelli M., Shoham M., "Application of Serial-Parallel Robot Architectures for Surgery Tasks: A Study of Feasibility" ISACAS02 5-th Israeli Symposium on Computer-Aided Surgery, Medical Robotics, and Medical Imaging, Tel-Aviv, May 2002.

177. Ceccarelli M., "An optimum design of parallel manipulators formulation and experimental validation", Proceedings of 1-st Int. Colloquium "Collaborative Research Centre 562", Braunschweig, 2002, invited lecture, pp. 47-63.

178. Ceccarelli M., Cigola M., Ottaviano E., Gallozzi A., Carbone G., Pelliccio A., "A study of Feasibility of Using Robots in Architecture Analysis and Survey of a Historical Pavement", 11th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD2002, Balatonfured, 2002, Proceedings, pp.113-118.

179. Ottaviano E., Ceccarelli M., Sbardella F., Thomas F., "Experimental Determination of Kinematic Parameters and Workspace of Human Arms", 11th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD2002, Balatonfured, 2002, Proceedings, pp.271-276.

180. Thomas F., Ottaviano E., Ros L., Ceccarelli M., “Uncertainity Model and Singularities of 3-2-1 Wire-Based Tracking System”, Advances in Robot Kinematics, Kluwer, Dordrecht, 2002, pp.107-116.

181. Carbone G., Marini G., Ceccarelli M., "Experimental Validation and Tests of Operation Characteristics of a Parallel-Serial Manipulator", 14th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators Ro.Man.Sy.'2002, Udine, 2002, Preprints CD; Procedings of 14-th Ro.Man.Sy., Springer Verlag, Wien, 2002, pp. 331-338.

182. Ceccarelli M., Ottaviano E., “A Workspace Evaluation of Eclipse Robot”, International Journal Robotica, 2002, Vol.20, pp.299-313.doi:10.1017/S0263574701003812

183. Ottaviano E., Ceccarelli M., Toti M., Avila Carrasco C., “CaTraSys (Cassino Traking System): A Wire System for Experimental Evaluation of Robot Workspace”, Fuji International Journal of Robotics and Mechatronics, 2002, Vol.14, No.1, pp. 78-87.

184. Penisi H.O., Carbone G., Ceccarelli M., “Optimum Design and Testing of Mechanisms for Two-Finger Grippers”, Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002 CD Proceedings, paper n. M03; International Journal of Mechanics and Control, Vol.3, n.1, pp.9-20, 2002.

185. Ottaviano E., Carbone G., Ceccarelli M., “Workspace Analyisis and Performances of a Binary Actuated Parallel Manipulator with Flexural Joints", Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002, CD Proceedings, paper n. M10.

186. Saramago S.F.P., Ceccarelli M., “Effect of Numerical Parameters on a Path Planning of Robots Taking into account Actuating Energy ”, Int. Symposium on Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002, CD Proceedings, paper n. M14.

187. Carbone G., Teolis M., Ceccarelli M., “Experimental validation and tests of CaHyMan’s operation”, Int. Symposium on

http://www.caip.rutgers.edu/IFTOMM/)

8

Multybody Systems and Mechatronics MUSME2002, Mexico City, 2002, CD Proceedings, paper n. M15 . 188. Saramago S.F.P., Lanni C., Ottaviano E., Ceccarelli M., “An Experimental Validation of an Optimum Path planning of

Robots with Grasping Force Constraints”, Proceedings Seventh Pan American Congress of Applied Mechanics, PACAMVII, Temuco, 2002, Vol.9, pp.445-448.

189. Lanni C, Saramago S.F.P., Ceccarelli M., ”Optimal Design of 3R Manipulators by Using Classical Techniques and Simulated Annealing”, Journal of the Brazilian Society for Mechanical Sciences, 2002, Vol.XXIV, pp. 294-302.

190. Saramago S., Ottaviano E., Ceccarelli M., “A Characterization of the Workspace Boundary of Three-Revolute Manipulators”, Proceedings of DETC’02 ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, 2002 , paper DETC2002/MECH-34342.

191. Carbone G., Civitillo R., Ceccarelli M., “Design and test of an articulated mechanism for 1 dof anthropomorphic finger", Proceedings of DETC’02 ASME 2002 Design Engineering Technical Conferences and Computers and Information in Engineering Conference, Montreal, 2002 , paper DETC2002/MECH-34300.

192. Ottaviano E., Ceccarelli M., “Optimum Design of Parallel Manipulators for Workspace and Singularity Performances”, Proceedings of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, 2002, pp.98-105.

193. Ceccarelli M., Ottaviano E., Carbone G., Progettazione ed esperienze di laboratorio di un manipolatore parallelo per varie applicazioni”, 1a Conferenza Nazionale Sistemi Autonomi Intelligenti e Robotica Avanzata, ENEA Frascati, ottobre 2002.

194. Lanni C., Ceccarelli M., Figliolini G., “An Analytical Design for Three Circular-Arc Cams”, Mechanism and Machine Theory, 2002, Vol. 37, N.9, pp. 915-924.

195. Ceccarelli M., Ottaviano E., Carbone G., “A Study of Feasibility for a Novel Parallel-Serial Manipulator”,Fuji International Journal of Robotics and Mechatronics, Vol. 14, No.3, 2002, pp.304-312.

196. Ceccarelli M., “Designing Two-Revolute Manipulators for Prescribed Feasible Workspace Regions”, ASME Journal of Mechanical Design, 2002, Vol., 124, pp.427-434.

197. Ceccarelli M., Ottaviano E., Galvagno M., “A 3-DOF Parallel Manipulator as Earthquake Motion Simulator”, Proceedings of the 7th International Conference on Control, Automation, Robotics and Vision ICARCV 2002, Singapore, 2002, paper P1534.

198. Saramago S.F.P., Ceccarelli M., “An Optimum Robot Planning with Payload Constraints”, International Journal Robotica, 2002, Vol.20, pp.395-404.

199. Ceccarelli M., "An Illustration Overview of Mechanism Classifications over the Time", Seminar on History of Science and Technology, Technical University of Kursk, 2003, pp.151-179.

200. Lanni C., Pugliese F., CeccarelliM., “A Study of Feasibility for a Robotized Workcell with Press Machines at ITCA Plant”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, paper 005RAAD03, Cassino, 2003.

201. CarboneG., CeccarelliM., Ottaviano E., Checcacci D., Frisoli A., AvizzanoC.A., BergamascoM., “A Study of Feasibility for a Macro-Milli Serial-Parallel Robotic Manipulator for Surgery Operated by a 3 Dofs Haptic Device”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, paper 006RAAD03, Cassino, 2003.

202. Ceccarelli M., Jauregui Becker J.M., Nava Rodriguez N.E., Parada Puig J.E., Lanni C., Carbone G., “Experimental Activity for Designing a Hand with 1 Dof Anthropomorphic Fingers of Human Size”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, paper 009RAAD03, Cassino, 2003.

203. Carbone G., Lim H.O., Takanishi A., Ceccarelli M., “Optimum Design of a New Humanoid Leg by Using Stiffness Analysis”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, Cassino, paper 045RAAD03, 2003.

204. Carbone G., JeckelM.,HavlíkS., Ceccarelli M., “An Optimum Multi-Objective Design Procedure for Microgripping Mechanisms”, 12th International Workshop on Robotics in Alpe-Andria-Danube Region RAAD 2003, Cassino, paper 055RAAD03, 2003.

205. Ottaviano E., Ceccarelli M., Thomas F., “Singularity Configurations of a 6-Wire Parallel Architecture”, 12th International Workshop on Robotics in Alpe-Adria-Danube Region RAAD 2003, Cassino, 2003, CD Proceedings, Paper 007RAAD03.

206. Figliolini G., Ceccarelli M., “Novel binary pneumatic actuation for EP-WAR3 biped robot”, 6th International Conference on Climbing and Walking Robots CLAWAR2003, Eds. G. Muscato and D. Longo, Professional Engineering Publishing, London, 2003, pp.853-860.

207. Ottaviano E., Carbone G., Ceccarelli M., “Workspace Analysis and Performances of a Binary Actuated Parallel Manipulator with Flexural Joints”, Journal of Mechanical Engineering Science, 2003, Vol. 217, pp. 313-330.

208. Ceccarelli M., Ottaviano E., “Design Problems for Parallel Manipulators in Assembling Operations”, Keynote Lecture, IFAC Workshop in Intelligent Assembly and Disassembly IAD03, Bucharest, 2003, pp. 13-26.

209. Carbone G., Ottaviano E., Acevedo M., Ceccarelli M., “Validación Experimental del Modelo Dinámico del Manipulador Parallelo Capaman 2”, VI Congreso Iberoamericano de Ingeniería Mecánica CIBEM 6, Coimbra, pp.869-874, 2003.

210. Penisi O., Ceccarelli M., Carbone G., “Clasificacion de Mecanismos en Pinzas Industriales de Dos Dedos”, Revista Iberoamericana de Ingenierìa Mecànica, vol.7, n.1, pp.59-75, 2003.

211. Acevedo M., CarboneG., Aguilar M.F., Ceccarelli M., “Simulación de una Pinza Controlada en Fuerza Empleando Simulink”, Revista Iberoamericana de Ingenierìa Mecànica, vol.7, n.1, pp.77-85, 2003.

212. CarboneG., Sugahara Y., Lim H.O., Takanishi A., Ceccarelli M., “Stiffness Performances Estimation for Biped Locomotor WL-15”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, pp.956-961, 2003.

213. Carbone G., Lim H.O., Takanishi A., Ceccarelli M., “Numerical and Experimental Estimation of Stiffness Performances for the Humanoid Robot WABIAN-RV”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, pp.962-967, 2003.

214. Figliolini G., Ceccarelli M., Di Gioia M., “Descending stairs with EP-WAR3 biped robot”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM'03, Kobe, 2003, pp.747-752.

215. CarboneG., Takanobu H., Ceccarelli M., Takanishi A., Ohtsuki K., Ohnishi M., Okino A., “Stiffness Analysis for the 6-Dofs Mouth Training Parallel Robot WY-5”, IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM 03, Kobe, pp.1234-1238, 2003.

216. Carbone G., Lim H.O., Takanishi A., Ceccarelli M., “Stiffness Analysis of the Humanoid Robot WABIAN-RIV: Modelling”, IEEE International Conference on Robotics and Automation ICRA 2003, Taipei, pp.3654-3659, 2003.

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217. Thomas F., Ottaviano E., Ros L., Ceccarelli M., “Coordinate-free Formulation of a 3-2-1 Wire-based Tracking Device using Cayley-Menger Determinants”, Proceedings of the IEEE International Conference on Robotics and Automation ICRA03, Taipei, 2003, pp.355-361.

218. Carbone G., Ceccarelli M., Ogura Y., Lim H.O., Takanishi A., Numerical Simulation for an Optimum Design of a Humanoid Leg Through Stiffness Analysis”, 3rd IEEE International Conference on Humanoid Robots HUMANOIDS2003, München and Karlsruhe, paper 3bWalking03, 2003.

219. Carbone G., Teolis M., Ceccarelli M., Ottaviano E., “An Experimental Performance Evaluation of a Parallel-Serial Manipulator”, International Journal of Mechanics and Control, vol.04, n.01, pp.29-39, 2003.

220. Ceccarelli M., “Low-Cost Robots for Research and Teaching Activity”, IEEE Automation & Robotics Magazine, Vol.10, n.3, 2003, pp.37-45.

221. Carbone G., Ogura Y., Lim H.O., Takanishi A., Ceccarelli M., "Dynamic Simulation and Experiments for the Design of a New Biped Walking Leg Module", Robotica: An International Journal, vol.22, n.1, pp.41-50, 2004.

222. Wolf A., Ottaviano E., Shoham M., Ceccarelli M., “Application of Line Geometry and Linear Complex

curriculum vitae of marco ceccarelli · 2010-2013 ‘digital mechanism and gear library goes...

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